Vehicle control apparatus and method for performing torque control of vehicle

Abstract

A vehicle control apparatus includes: a vehicle state judgment unit that judges a transverse driving control state and a longitudinal driving control state of a vehicle when detecting that a torque of a vehicle power source is abnormal, and judges a normal power source when the transverse driving control is in a normal state and the longitudinal driving control is in a failure state; a driving condition judgment unit that judges a driving state corresponding to a predetermined accident risk driving condition by using vehicle information when there is the normal power source; and a vehicle control unit that controls driving of the vehicle by using a target safety torque provided in advance when the driving state of the vehicle corresponds to the accident risk driving condition, where the vehicle is operated using the target safety torque when the driving state is the accident risk driving condition.

What is claimed is: 
     
         1 . A vehicle control apparatus comprising:
 a vehicle state judgment unit configured to judge a transverse driving control state and a longitudinal driving control state of a vehicle only when detecting that a torque of a vehicle power source is abnormal, and judge a normal power source among a plurality of power sources of the vehicle only when the transverse driving control is in a normal state and the longitudinal driving control is in a failure state;   a driving condition judgment unit configured to judge whether a driving state of the vehicle corresponds to a predetermined accident risk driving condition by using vehicle information only when the vehicle is operating using the normal power source; and   a vehicle control unit configured to control driving of the vehicle by using a target safety torque provided in advance only when the driving state of the vehicle corresponds to the accident risk driving condition,   wherein the vehicle is operated using the target safety torque only when the driving state is the accident risk driving condition.   
     
     
         2 . The vehicle control apparatus of  claim 1 , wherein the vehicle state judgment unit is configured to judge whether the torque is normal by using a user's required torque and a torque of the vehicle power source, and receive a current state signal from each of a controller related to the longitudinal driving control and a controller related to the transverse driving control when detecting that the torque of the vehicle power source is abnormal. 
     
     
         3 . The vehicle control apparatus of  claim 2 , wherein the vehicle state judgment unit is configured to judge whether the controller related to the transverse driving control has a failure and whether the controller related to the longitudinal driving control has the failure based on the current state signal. 
     
     
         4 . The vehicle control apparatus of  claim 3 , wherein the vehicle state judgment unit is configured to divide and set an accident risk stage into three stages according to the transverse driving control state and the longitudinal driving control state. 
     
     
         5 . The vehicle control apparatus of  claim 4 , wherein the vehicle state judgment unit is configured to judge whether there is a normal power source among the plurality of power sources based on a normal torque range including a lower threshold for torque error and an upper threshold for torque error provided in advance when the transverse driving control is in a normal state and the longitudinal driving control is in a failure state according to the accident risk stage of vehicle. 
     
     
         6 . The vehicle control apparatus of  claim 1 , wherein the vehicle state judgment unit is configured to calculate a power train allowance output of the vehicle by using the normal power source when there is the normal power source. 
     
     
         7 . The vehicle control apparatus of  claim 1 , wherein the vehicle state judgment unit is configured to judge that vehicle control is required through a predetermined minimum torque when there is no normal power source. 
     
     
         8 . The vehicle control apparatus of  claim 1 , wherein when the vehicle is positioned on the slope, another vehicle approaches from a rear of the vehicle, or the vehicle is positioned in a low speed limit zone, the driving condition judgment unit judges that the driving state of the vehicle corresponds to the accident risk driving condition. 
     
     
         9 . The vehicle control apparatus of  claim 1 , wherein the vehicle control unit operates in a safety margin torque control mode provided in advance to control vehicle driving with a predetermined minimum torque when transverse driving control is impossible, there is no normal power source, or the driving state of the vehicle does not correspond to the accident risk driving condition. 
     
     
         10 . A vehicle comprising a vehicle control apparatus, the vehicle control apparatus comprising:
 a vehicle state judgment unit configured to judge a transverse driving control state and a longitudinal driving control state of the vehicle only when detecting that a torque of a vehicle power source is abnormal, and judge a normal power source among a plurality of power sources of the vehicle only when the transverse driving control is in a normal state and the longitudinal driving control is in a failure state;   a driving condition judgment unit configured to judge whether a driving state of the vehicle corresponds to a predetermined accident risk driving condition by using vehicle information only when the vehicle is operating using the normal power source; and   a vehicle control unit configured to control driving of the vehicle by using a target safety torque provided in advance only when the driving state of the vehicle corresponds to the accident risk driving condition,   wherein the vehicle is operated using the target safety torque only when the driving state is the accident risk driving condition.   
     
     
         11 . A vehicle control method comprising:
 a state judging step of judging, by a vehicle state judgment unit, a transverse driving control state and a longitudinal driving control state of a vehicle only when detecting that a torque of a vehicle power source is abnormal;   a normal power source judging step of judging, by the vehicle state judgment unit, a normal power source among a plurality of power sources of the vehicle only when the transverse driving control is a normal state and the longitudinal driving control is in a failure state;   a driving condition judging step of judging, by a driving condition judgment unit, whether a driving state of the vehicle corresponds to a predetermined accident risk driving condition by using vehicle information only when there is the normal power source; and   a safety torque control step of controlling, by a vehicle control unit, vehicle driving by using a target safety torque provided in advance only when the driving state of the vehicle corresponds to the accident risk driving condition,   wherein the vehicle is operated using the target safety torque only when the driving state is the accident risk driving condition.   
     
     
         12 . The vehicle control method of  claim 11 , further comprising:
 a detecting step of judging, by the vehicle state judgment unit, whether a torque is normal by using a user's required torque and a torque of the vehicle power source before the state judging step; and   a state confirming step of receiving, by the vehicle state judgment unit, a current state signal from each of a controller related to longitudinal driving control of the vehicle and a controller related to transverse driving control of the vehicle when detecting that the torque of the vehicle is abnormal after the detecting step.   
     
     
         13 . The vehicle control method of  claim 11 , wherein the state judging step includes:
 a first state judging step of judging whether the controller related to the transverse driving control has a failure based on the current state signal, and   a second state judging step of judging whether the controller related to the longitudinal driving control has the failure based on the current state signal.   
     
     
         14 . The vehicle control method of  claim 13 , wherein the state judging step further includes:
 dividing and setting an accident risk stage of the vehicle into three stages according to the transverse driving control state and the longitudinal driving control state.   
     
     
         15 . The vehicle control method of  claim 14 , further comprising:
 after the state judging step, a power source confirming step of judging, by the vehicle state judgment unit, whether there is the normal power source among the plurality of power sources based on a normal torque range including a lower threshold for torque error and an upper threshold for torque error provided in advance when the transverse driving control is in a normal state and the longitudinal driving control is in a failure state according to the accident risk stage of vehicle.   
     
     
         16 . The vehicle control method of  claim 11 , further comprising:
 a calculating step of calculating, by the vehicle state judgment unit, a power train allowance output of the vehicle by using the normal power source when there is the normal power source, after the normal power source judging step.   
     
     
         17 . The vehicle control method of  claim 11 , further comprising:
 after the normal power source judging step, judging, by the vehicle state judgment unit, that vehicle control is required through a predetermined minimum torque when there is no normal power source.   
     
     
         18 . The vehicle control method of  claim 10 , further comprising:
 an accident risk judging step of judging, by the driving condition judgment unit, when the vehicle is positioned on the slope, another vehicle approaches from the rear, or the driving vehicle is positioned in a low speed limit zone, that the accident risk driving condition is satisfied, after the driving condition judging step.   
     
     
         19 . The vehicle control method of  claim 11 , further comprising:
 a safety margin torque control step of controlling, by the vehicle control unit, vehicle driving with a predetermined minimum torque when transverse driving control is impossible, there is no normal power source, or the driving state of the vehicle does not correspond to the accident risk driving condition.   
     
     
         20 . The vehicle control method of  claim 11 , wherein the safety torque control step includes a step of:
 calculating, by the vehicle control unit, the target safety torque through two or more equations provided for each driving situation of the vehicle, and controls the vehicle driving by using the target safety torque when the driving state of the vehicle corresponds to the accident risk driving condition.